Collaborative robot collision cushioning protection device

Abstract

This utility model relates to the field of collaborative robot safety protection technology, specifically to a collision buffer protection device for collaborative robots, including a collaborative robot's motion arm and two rubber rings fitted on the motion arm. The outer wall of the motion arm is also fitted with two concentrically distributed annular rubber sleeves. This utility model forms the main buffer energy absorption layer through the inner and outer annular rubber sleeves and rubber rings. Utilizing the excellent elasticity and damping properties of rubber material, the device extends the impact time through deformation during a frontal collision, effectively reducing the peak impact force. A freely rotatable support rod array positioned between the two rubber sleeves converts the sliding friction between the colliding object and the outer surface of the device into rolling friction of the support rods during tangential scraping collisions. This effectively avoids the pulling and jamming risks that may arise from traditional soft protective sleeves, making the collision process more "smooth" and safer, significantly improving the safety of human-robot collaboration.

Description

Technical Field

[0001] This utility model relates to the field of safety protection technology for collaborative robots, specifically to a collision buffer protection device for collaborative robots. Background Technology

[0002] Collaborative robots are widely used in assembly, picking, packaging, and other fields because they can work alongside humans in shared workspaces. Safety in human-robot interaction is a core requirement. The international standard ISO / TS 15066 sets strict limits on force and pressure for physical human-robot contact.

[0003] Currently, safety protection for collaborative robots is mainly divided into active and passive methods. Active methods rely on joint torque sensors to detect collisions in real time and stop the robot, but they are costly and have complex algorithms, posing a certain risk of misjudgment or response delay. Passive protection mainly uses the method of adding soft elastic materials (such as polyurethane foam) to the outside of the robot arm to absorb collision energy through material deformation, which reduces costs and has high reliability.

[0004] However, existing passive buffer protection solutions have significant shortcomings: First, when a single soft material is subjected to a collision, especially a tangential scrape, a huge sliding friction force is generated between it and the object it collides with. This friction force may not only injure the operator, but also interfere with the robot's own movement. Second, the added protective cover usually covers the heat dissipation holes on the surface of the robot arm, hindering the dissipation of heat from the motor and drive, causing the robot to slow down or stop due to overheating, which seriously affects work efficiency and equipment life.

[0005] Therefore, there is an urgent need for a passive collision buffer protection device that can provide efficient cushioning, effectively reduce frictional resistance, and not affect the robot's normal heat dissipation. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a collaborative robot collision buffer protection device that is ingeniously structured, safe, reliable, and highly practical. This device not only effectively buffers collision impacts through material deformation but also transforms harmful sliding friction into low-risk rolling friction through a unique rolling structure, while ensuring that the robot arm's heat dissipation function remains unaffected.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A collision buffer protection device for a collaborative robot includes a robotic arm and two rubber rings fitted onto the robotic arm. The outer wall of the robotic arm is further fitted with two concentrically arranged annular rubber sleeves, each annular rubber sleeve having several evenly distributed small holes. The two annular sides of the two annular rubber sleeves are fixedly connected to their corresponding rubber rings, forming an annular buffer cavity. Several support rods arranged in an equally spaced annular array and parallel to the robotic arm are rotatably mounted between the two annular rubber sleeves, with both ends of the support rods rotatably connected to the two rubber rings.

[0008] Furthermore, the outer wall of the collaborative robot's motion arm has several evenly distributed, ring-shaped heat dissipation holes that penetrate the inner cavity, and these heat dissipation holes are located opposite to the positions of the two annular rubber sleeves.

[0009] Furthermore, the inner ring walls of both rubber rings are fixedly bonded with sealing rings that adhere to the moving rod arm, and the two sealing rings are respectively arranged on both sides of a plurality of heat dissipation holes.

[0010] Furthermore, several annularly spaced bushings are embedded and fixedly installed on opposite sides of both rubber rings. The outer annular wall of the outer rubber bushing is flush with the outer annular wall of the rubber ring, and the inner annular wall of the inner rubber bushing is flush with the inner annular wall of the rubber ring.

[0011] Furthermore, the outer diameter of several of the support rods is consistent with the distance between the inner and outer annular rubber sleeves. Each end of one of the support rods is vertically fixedly connected to a rotating shaft, and these rotating shafts are rotatably mounted on corresponding bushings.

[0012] Beneficial effects Compared with the prior art, the beneficial effects of this utility model are as follows: This invention achieves multiple forms of buffering and friction transformation: The main buffering and energy-absorbing layer consists of two layers of annular rubber sleeves and rubber rings. Utilizing the excellent elasticity and damping properties of rubber, the deformation prolongs the impact time during a head-on collision, effectively reducing the peak impact force. More importantly, the freely rotatable support rod array positioned between the two rubber sleeves transforms the sliding friction between the colliding object and the outer surface of the device into rolling friction of the support rods during tangential scraping collisions. This significantly reduces frictional resistance during the collision process, effectively avoiding the pulling and jamming risks that may arise from traditional soft protective sleeves, making the collision process more "smooth" and safe, and significantly improving the safety of human-machine collaboration.

[0013] This invention ensures that the robot's heat dissipation performance is not affected: It creatively incorporates evenly distributed small holes on two annular rubber sleeves, precisely corresponding to the heat dissipation hole areas on the moving arm. This design allows heat generated inside the robot to be efficiently dissipated to the outside air through the heat dissipation holes and small openings, completely avoiding overheating problems caused by adding protective devices. This guarantees the robot can operate stably and efficiently for extended periods, making it highly practical.

[0014] The structure is stable and highly integrated: the support rod not only functions as a rolling element, with its two ends fixedly connected to the rubber rings, but also serves to connect and support the frame, enhancing the structural strength and integrity of the entire buffer device and preventing it from being damaged by violent deformation during a collision. The entire device is tightly fitted to the arm via a sealing ring, making installation convenient, with a compact structure and smooth appearance, without adding excessive volume or weight. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a front sectional view of the present invention. Figure 3 for Figure 2 A magnified schematic diagram of the local structure at point A; The main components in the diagram are described as follows: 1. Moving rod arm; 11. Heat dissipation hole; 21. Rubber ring; 22. Sealing ring; 23. Bushing; 31. Annular rubber sleeve; 32. Small hole; 33. Support rod; 34. Rotating shaft. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0018] The present invention will be further described below with reference to the embodiments.

[0019] Example 1 Reference Figure 1-3 This is the first embodiment of the present invention, a collision buffer protection device for a collaborative robot, including a collaborative robot arm 1 and two rubber rings 21 sleeved on the collaborative robot arm 1. The rubber rings 21 are made of wear-resistant and highly elastic polyurethane material. Two concentrically distributed annular rubber sleeves 31 are also sleeved on the outer wall of the collaborative robot arm 1. The annular rubber sleeves 31 are made of flexible thermoplastic elastomer material. Several evenly distributed small holes 32 are drilled through each of the two annular rubber sleeves 31. The two annular sides of the two annular rubber sleeves 31 are fixedly connected to the corresponding rubber rings 21. Several equally spaced annular array support rods 33 are rotatably mounted between the two annular rubber sleeves 31 and are distributed parallel to the collaborative robot arm 1. The support rods 33 are made of smooth aluminum alloy or stainless steel material, and the two ends of the support rods 33 are rotatably connected to the two rubber rings 21.

[0020] Example 2 Reference Figure 1-3 This is the second embodiment of the present utility model. The difference between this embodiment and the first embodiment is that the outer wall of the collaborative robot's motion arm 1 is provided with a number of heat dissipation holes 11 that are evenly distributed in annular strips through the inner cavity. The number of heat dissipation holes 11 are located opposite to the positions of the two annular rubber sleeves 31. The inner ring walls of both rubber rings 21 are fixedly bonded with sealing rings 22 that are attached to the collaborative robot's motion lever arm 1. The sealing rings 22 are made of silicone rubber, which has excellent sealing performance and high temperature resistance. The annular rubber sleeve 31 and the rubber rings 21 are fixedly connected by vulcanization bonding or high-strength adhesive. The two sealing rings 22 are respectively set on both sides of several heat dissipation holes 11. Several bushings 23 distributed in annular and equally spaced arrangement are embedded and fixed on the opposite side of the two rubber rings 21. The bushings 23 are made of self-lubricating copper-based powder metallurgy material. The outer ring wall of the outer annular rubber sleeve 31 is flush with the outer ring wall of the rubber ring 21, and the inner ring wall of the inner annular rubber sleeve 31 is flush with the inner ring wall of the rubber ring 21. The outer diameter of several support rods 33 is consistent with the spacing between the inner and outer annular rubber sleeves 31. Both ends of several support rods 33 are vertically fixedly connected to rotating shafts 34. The rotating shafts 34 are made of high-strength bearing steel and have been hardened on the surface. Several rotating shafts 34 are rotatably installed on the corresponding bushings 23.

[0021] The remaining structure is the same as that in Example 1.

[0022] The working process of the collision buffer protection device for this collaborative robot is as follows: This device begins to function as a protective mechanism when the collaborative robot accidentally collides with external objects or operators during operation. Depending on the direction of the collision, its working mechanism can be divided into two modes: radial buffering and tangential guidance.

[0023] In the event of a radial frontal collision, where the external force is perpendicular to the axis of the collaborative robot's lever arm 1, the external impact force first acts on the outer annular rubber sleeve 31. The rubber materials of the rubber ring 21 and the annular rubber sleeve 31 possess excellent elasticity and deformation capacity, undergoing elastic deformation under compression, thereby prolonging the impact force's duration and effectively reducing the instantaneous impact peak. The external force is transmitted through the outer annular rubber sleeve 31 to the internal support rod array 33, and then continues inward to the inner annular rubber sleeve 31. This force transmission process, through the combined deformation of the two annular rubber sleeves 31 and the intermediate support rod 33, absorbs and dissipates the collision energy in stages, dispersing and mitigating the concentrated impact force, thus preventing rigid impact on the robot body and the colliding object.

[0024] In the event of a tangential scraping collision, i.e., when the direction of the external force is parallel to the axis of the collaborative robot's moving arm 1, the unique design advantages of this device are fully demonstrated. When an external object comes into contact with the outer annular rubber sleeve 31, the resulting friction causes the annular rubber sleeve 31 to tend to move. At this time, the support rod 33 installed between the two annular rubber sleeves 31 begins to roll under the action of friction. This rolling process cleverly transforms harmful sliding friction into low-risk rolling friction, greatly reducing the coefficient of friction. The free rotation of the support rod 33 allows the colliding object to slide smoothly along the surface of the device, effectively avoiding the pulling and jamming phenomena that may occur with traditional soft protective sleeves, significantly reducing the risk of secondary injury to personnel and equipment.

[0025] Throughout the collision process, the support rods 33 not only act as rolling elements but also provide crucial structural support. They are evenly distributed between the two annular rubber sleeves 31, maintaining the structural stability of the buffer cavity and preventing excessive or irregular deformation of the annular rubber sleeves 31 under pressure, thus ensuring the integrity and reliability of the protective device.

[0026] In addition to providing collision protection, this device also fully considers the heat dissipation requirements of the collaborative robot. The heat generated inside the collaborative robot's moving arm 1 escapes through the heat dissipation holes 11 on the arm wall, and then dissipates into the external environment through the evenly distributed small holes 32 on the annular rubber sleeve 31. This design ensures unobstructed airflow for heat dissipation, completely avoiding overheating problems caused by adding protective devices, and ensuring the robot can operate continuously and stably.

[0027] In summary, this collision buffer protection device achieves multiple energy absorption and friction form conversion through the elastic deformation of the rubber ring 21 and the annular rubber sleeve 31 and the rolling conversion mechanism of the support rod 33. It effectively alleviates the impact force, avoids the risks caused by sliding friction, and does not affect the normal heat dissipation of the equipment, providing a comprehensive and reliable guarantee for the safety of human-machine collaboration.

[0028] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this utility model.

Claims

1. A collision buffer protection device for collaborative robots, characterized in that, The system includes a collaborative robot arm (1) and two rubber rings (21) fitted on the collaborative robot arm (1). The outer wall of the collaborative robot arm (1) is also fitted with two concentric annular rubber sleeves (31). Each of the two annular rubber sleeves (31) has several evenly distributed small holes (32) through it. The two annular sides of the two annular rubber sleeves (31) are fixedly connected to the corresponding rubber rings (21). Several support rods (33) arranged in an equally spaced annular array and distributed parallel to the collaborative robot arm (1) are rotatably installed between the two annular rubber sleeves (31). The two ends of the several support rods (33) are rotatably connected to the two rubber rings (21).

2. The collision buffer protection device for a collaborative robot according to claim 1, characterized in that, The outer wall of the collaborative robot's motion lever (1) has several heat dissipation holes (11) that are evenly distributed in annular strips through the inner cavity. The heat dissipation holes (11) are located opposite to the two annular rubber sleeves (31).

3. The collaborative robot collision buffer protection device according to claim 1, characterized in that, The inner ring walls of the two rubber rings (21) are fixedly bonded with sealing rings (22) that are attached to the collaborative robot's moving arm (1), and the two sealing rings (22) are respectively set on both sides of a plurality of heat dissipation holes (11).

4. The collaborative robot collision buffer protection device according to claim 1, characterized in that, On the opposite side of the two rubber rings (21), a number of bushings (23) are embedded and fixedly installed in annular and equally spaced arrangement. The outer ring wall of the outer ring rubber sleeve (31) is flush with the outer ring wall of the rubber ring (21), and the inner ring wall of the inner ring rubber sleeve (31) is flush with the inner ring wall of the rubber ring (21).

5. A collision buffer protection device for collaborative robots according to claim 1, characterized in that, The outer diameter of several support rods (33) is consistent with the distance between the inner and outer annular rubber sleeves (31). Both ends of several support rods (33) are vertically fixedly connected to rotating shafts (34), and several rotating shafts (34) are respectively rotatably installed on corresponding bushings (23).

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